CN107041058A - Dynamic antivibration in x-ray system - Google Patents
Dynamic antivibration in x-ray system Download PDFInfo
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- CN107041058A CN107041058A CN201710065580.6A CN201710065580A CN107041058A CN 107041058 A CN107041058 A CN 107041058A CN 201710065580 A CN201710065580 A CN 201710065580A CN 107041058 A CN107041058 A CN 107041058A
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05G—X-RAY TECHNIQUE
- H05G1/00—X-ray apparatus involving X-ray tubes; Circuits therefor
- H05G1/08—Electrical details
- H05G1/26—Measuring, controlling or protecting
- H05G1/30—Controlling
- H05G1/32—Supply voltage of the X-ray apparatus or tube
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05G—X-RAY TECHNIQUE
- H05G1/00—X-ray apparatus involving X-ray tubes; Circuits therefor
- H05G1/08—Electrical details
- H05G1/10—Power supply arrangements for feeding the X-ray tube
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computerised tomographs
- A61B6/032—Transmission computed tomography [CT]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/04—Positioning of patients; Tiltable beds or the like
- A61B6/0407—Supports, e.g. tables or beds, for the body or parts of the body
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/40—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for generating radiation specially adapted for radiation diagnosis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05G—X-RAY TECHNIQUE
- H05G1/00—X-ray apparatus involving X-ray tubes; Circuits therefor
- H05G1/08—Electrical details
- H05G1/26—Measuring, controlling or protecting
- H05G1/54—Protecting or lifetime prediction
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05G—X-RAY TECHNIQUE
- H05G1/00—X-ray apparatus involving X-ray tubes; Circuits therefor
- H05G1/08—Electrical details
- H05G1/58—Switching arrangements for changing-over from one mode of operation to another, e.g. from radioscopy to radiography, from radioscopy to irradiation or from one tube voltage to another
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Abstract
In X-ray emitter, X-ray tube includes anode and negative electrode, and is powered by least the first high-voltage potential.Dynamic damper with frequency dependent impedance is placed between X-ray tube and high-tension electricity potential source.Increase in the frequency that the impedance of dynamic damper is associated with being told with pipe and increase.Being switched by resonance with provide the first kV grades and the 2nd kV grade into the X-ray emitter of X-ray tube, the impedance of dynamic damper is low in the operating frequency of resonant switch, to promote energy to recover when resonant switch is operated with provide the first kV grades to X-ray tube.
Description
Background technology
This disclosure relates to x-ray imaging field.More specifically, this disclosure relates to the high input voltage power of x-ray source
Dynamic antivibration.
In conventionally calculation tomography (CT) x-ray imaging system, x-ray source is to such as patient or luggage
Main body or object transmitting cone type X-ray beam.Beam is impinged upon on radiation detector array after being decayed by main body.In detector
The intensity of the beam emittance of the decay received at array depends on the decay by main body to X-ray beam.Detector array it is each
Detector element produces the independent electric signal for the X-ray intensity for indicating to be received by that specific detectors element.Electric signal is measured
Changing and being sent to data handling system is used to analyze, and this typically results in the presentation of image.
CT imaging systems may include that energy distinguishes (ED), multi-energy (ME) and/or dual energy (DE) CT imaging systems, its
It can be described as EDCT, MECT and/or DECT imaging system..It is quick that EDCT, MECT and/or DECT imaging system are configured to measurement energy
Feel data for projection.By changing the operating voltage of X-ray tube, or utilize X-ray beam filtering technique（For example, energy-sensitive X is penetrated
Line generation technique）Or by being distinguished by detector or being carried out by photon-counting detector or double-deck detector using energy
Energy-sensitive data acquisition energy（For example, energy-sensitive X-ray detection technique）, the X-ray spectrum of multiple applications can be used
Collecting energy sensitive projection data.
By X-ray generation technique, various system configurations utilize the modification of the operating voltage of X-ray tube, comprising：(1) make
With the different operating voltage of X-ray tube, the collection of data for projection is carried out from two orderly scannings of object, (2) utilize X-ray
Being switched fast to gather the low energy and high-energy information of the alternating subset for projection view for the operating voltage of pipe, is thrown
The collection of shadow data, or (3) are using multiple imaging systems of the different operating voltage with X-ray tube, carry out energy-sensitive
Gathered while information.
EDCT/MECT/DECT, which is provided, allows the energy separating capacity of substance characterization.For example, in the feelings scattered without object
Under condition, system utilizes the signal of the photon spectrum (that is, low energy and high-energy incident X-rays spectrum) from two applications.It is low
Energy and high-energy incident X-rays spectrum are generally characterized by the average energy for the X-ray beam applied.For example, relative to high energy
X-ray spectrum is measured, low-energy X-ray spectrum includes the x-ray photon with more energy photons, so as to cause lower be averaged
Energy.According to the spectrum of two different applications（X-ray generation technique）Or the region for the spectrum for passing through same application（X-ray
Detection technique）, the signal detected from low energy and high-energy X-rays spectrum provides the material for being used for estimating in imaging
The full information of effective atomic number.Generally, two kinds of base substances（For patient scan, generally water and calcium）X-ray decline
Subtract mechanism（Compton scattering or photoelectric absorption）Or energy-sensitive attenuation attributes are used for realizing estimation effective atomic number.
Double-energy scanning can be measured by using energy-sensitive, obtain the diagnosis CT figures of the enhancing contrast separation in image
Picture.To promote the processing of energy-sensitive measurement, the X-ray spectrum of application should be constant during the phase of combination.For example, collection is low
The staggeredly subset of energy and high energy projection data（To two individually scannings）Such CT system should operate with keep accelerate electricity
It is stable during being pressed in acquisition interval.The progress moreover, change from a voltage level to another voltage level should be exceedingly fast.Less stable
X-ray tube operating voltage and/or slower operating voltage switching time cause effective average energy of the X-ray spectrum of application
（The average value of the average energy of time-varying X-ray spectrum）In difference reduce, it reduce the system in different material is characterized
Fidelity (fidelity).
Term " pipe is told " (tube spit) represents the temporary electrical short circuit occurred sometimes in X-ray tube.Generally, in pipe
When telling generation, the supply of temporarily interruption to the power of X-ray tube to form electric arc to prevent.Between such as about one millisecond of time
Every rear, power returns to pipe.During pipe tells recovery, x-ray photon is not launched from x-ray tube.Therefore, enter during restoration
Capable detectors measure is invalid.
The content of the invention
The example embodiment of X-ray emitter includes the X-ray tube with anode and negative electrode.High pressure generator it is operable with
There is provided at least the first kV grade to X-ray tube and the 2nd kV grades to X-ray tube.2nd kV grades higher than the first kV grades.Dynamic damper
With frequency dependent impedance.Dynamic damper is placed between the negative electrode of X-ray tube and high pressure generator.The resistance of dynamic damper
It is anti-to increase with the increase in frequency.
Prevent the example embodiment of the method that pipe is told in (project against) X-ray emitter from including from change
The high-voltaghe compartment sub-assembly of depressor is that X-ray tube supplies high-voltage potential.Dynamic damper is placed at the negative electrode and transformer of X-ray tube
Between.Dynamic damper provides changeable frequency impedance.There is provided dynamic damper while X-ray tube is supplied with high-voltage potential
The first impedance.Occurring, there is provided the second impedance of dynamic damper when the pipe in X-ray tube is told.Second impedance is more than first
Impedance.
The example embodiment of X-ray emitter mesohigh case sub-assembly includes transformer combination part.Transformer combination part connects
Receive high-frequency input power.Voltage rectifier is coupled to transformer combination part.Voltage rectifier, which is received, comes from transformer combination part
Input voltage, and provide in the first kV grades of output voltage.Transformer combination part and voltage rectifier are operable with selection
KV grades of ground offer the first arrives X-ray tube to kV grades of X-ray tube and offer the 2nd.2nd kV grades higher than the first kV grades.Dynamic antivibration
Utensil has frequency dependent impedance.Dynamic damper is placed between X-ray tube and voltage rectifier.The impedance of dynamic damper with
The increase in frequency and increase.
The present invention provides one group of technical scheme, as follows:
1. a kind of X-ray emitter, including：
X-ray tube, including anode and negative electrode；
High pressure generator, it is operable with provide at least the first kV grade to the X-ray tube and the 2nd kV grades to the X-ray tube,
Described 2nd kV grades higher than the described first kV grades；And
Dynamic damper with frequency dependent impedance, is placed at the negative electrode and the high pressure generator of the X-ray tube
Between, wherein the impedance of the dynamic damper increases with the increase in frequency.
2. the X-ray emitter as described in technical scheme 1, wherein the dynamic damper is solenoid.
3. the X-ray emitter as described in technical scheme 2, wherein the solenoid is made up of magnetic stainless steel wire winding.
4. the X-ray emitter as described in technical scheme 3, wherein the impedance of the dynamic damper is included with frequency
The resistance of rate and the solenoidal inductance increased and the magnetic stainless steel wire winding increased with frequency.
5. the X-ray emitter as described in technical scheme 1, wherein in the frequency less than 50 kHz, the dynamic damper
There is provided and be less than to protect 1/3 impedance of the reference impedance needed for the high pressure generator.
6. the X-ray emitter as described in technical scheme 5, wherein in the frequency less than 50 kHz, the dynamic resistance
Buddhist nun's device, which is provided, to be less than to protect 1/10 impedance of the reference impedance needed for the high pressure generator.
7. the X-ray emitter as described in technical scheme 5, wherein in the frequency higher than 5 MHz, the dynamic damper
There is provided and be more than to protect the impedance of the reference impedance needed for the high pressure generator.
8. the X-ray emitter as described in technical scheme 5, wherein the reference impedance is in 500 ohm and 15000 ohm
Between.
9. the X-ray emitter as described in technical scheme 1, in addition to distributed resonant energy recover (DRER) circuit, and
And the DRER circuits include：
At least one capacitor；And
With the multiple switch of at least one capacitor arranged in series, the switch is operable with least one described electric capacity
Selectively storage energy in device；
Wherein operating the high pressure generator with provide the described first kV grade to the X-ray tube when, it is described at least one
Received and storage energy in capacitor；And
Wherein operating the high pressure generator with provide the described 2nd kV grade to the X-ray tube when, from it is described at least one
Capacitor releases energy to realize the described 2nd kV grades.
10. the X-ray emitter as described in technical scheme 9, in addition to：
It is arranged in the high-tension cable between the high pressure generator and the X-ray tube
Wherein operating the high pressure generator with provide the described 2nd kV grade to the X-ray tube when, in the high-tension cable
Electric capacity in storage energy, and operating the high pressure generator with provide the described first kV grade arrive the X-ray tube when, it is logical
Crossing the dynamic damper makes the high-tension cable be discharged into the DRER circuits with least one described in the DRER circuits
Storage energy in individual capacitor.
11. the X-ray emitter as described in technical scheme 1, in addition to：
High-voltaghe compartment, wherein the dynamic damper is located in the high-voltaghe compartment.
12. a kind of method for preventing that pipe is told in X-ray emitter, methods described includes：
It is that X-ray tube supplies high-voltage potential from the high-voltaghe compartment sub-assembly with transformer；
Dynamic damper is placed between the negative electrode of the X-ray tube and the transformer, wherein the dynamic damper is carried
For changeable frequency impedance；
When supplying the high-voltage potential for the X-ray tube, there is provided the first impedance of the dynamic damper；
Occurring when the pipe in the X-ray tube is told there is provided the second impedance of the dynamic damper, wherein second impedance
More than first impedance.
13. the method as described in technical scheme 12, in addition to：
From the high-voltaghe compartment sub-assembly selectively provide the first kV grades to the X-ray tube；And
From the high-voltaghe compartment sub-assembly selectively provide the 2nd kV grades to the X-ray tube；
Wherein described second kV grades are more than the described first kV grades.
14. the method as described in technical scheme 13, wherein the high-voltaghe compartment sub-assembly also include multiple switching devices and with
At least one capacitor of the multiple switching device arranged in series, the multiple switching device is operable with selectively described
At least one capacitor storage energy and release energy therefrom, methods described also includes：
Operate the high-voltaghe compartment sub-assembly with provide the described first kV grades arrive the X-ray tube；
Received and storage energy at least one described capacitor；
Operate the high-voltaghe compartment sub-assembly with provide the described 2nd kV grades arrive the X-ray tube；And
Make at least one capacitor release with promote from the described first kV grades be switched to the described 2nd kV grades.
15. the method as described in technical scheme 14, in addition to：
Energy is received by the dynamic damper；And
Received energy is stored at least one described capacitor.
16. the method as described in technical scheme 15, wherein in the frequency less than 50 kHz, the dynamic damper has
Less than for protecting 1/3 resistance of the reference impedance in the high-voltaghe compartment sub-assembly needed for voltage rectifier and the transformer
Anti-, the pipe in the X-ray tube tells the impedance in the frequency generation more than 10 MHz, and wherein described dynamic damper
The impedance of the reference impedance is exponentially increased above in the frequency higher than 50 kHz.
17. the method as described in technical scheme 15, its medium and high voltage cable is arranged in the high-voltaghe compartment sub-assembly and the X
Between ray tube, and wherein operating the high-voltaghe compartment sub-assembly with provide the described 2nd kV grade to the X-ray tube when,
Storage energy in the high-tension cable, and operating the high-voltaghe compartment sub-assembly with provide the described first kV grades penetrated to the X
During spool, the high-tension cable release is made with the storage energy at least one described capacitor by the dynamic damper.
18. a kind of high-voltaghe compartment sub-assembly in X-ray emitter, including：
Receive the transformer combination part of high-frequency input power；
The voltage rectifier of the transformer combination part is coupled to, the voltage rectifier, which is received, comes from the transformer combination part
Input voltage, and provide in the first kV grades of output voltage；
The transformer combination part and voltage rectifier it is operable with selectively provide the first kV grades arrive the X-ray tube and offer
2nd kV grades arrive the X-ray tube, the described 2nd kV grade be higher than the described first kV grades；And
Dynamic damper with frequency dependent impedance, is placed between the X-ray tube and the voltage rectifier, wherein institute
The impedance for stating dynamic damper increases with the increase in frequency.
19. the high-voltaghe compartment sub-assembly as described in technical scheme 18, in addition to distributed resonant energy recover (DRER) electricity
Road, and the DRER circuits include：
At least one capacitor；
With multiple switching devices of at least one capacitor arranged in series, the switch it is operable with selectively it is described extremely
Storage energy in a few capacitor；Wherein the transformer combination part and voltage rectifier is being operated to provide the first kV
When level arrives the X-ray tube, received and storage energy at least one described capacitor；And
Wherein operating the transformer combination part and voltage rectifier with provide the described 2nd kV grade to the X-ray tube when,
Except the described first in addition to kV grades, also release energy to realize the described 2nd kV grades from least one described capacitor.
20. the high-voltaghe compartment sub-assembly as described in technical scheme 18, wherein the voltage rectifier is full-bridge rectifier or again
Depressor.
The present invention provides another group of technical scheme, as follows:
1. a kind of X-ray emitter (100), including：
X-ray tube (102), including anode (110) and negative electrode (108)；
High pressure generator (118), it is operable with provide at least the first kV grades to the X-ray tube and the 2nd kV grades penetrated to the X
Spool, the described 2nd kV grades higher than the described first kV grades；And
Dynamic damper (120) with frequency dependent impedance, be placed at the negative electrode (108) of the X-ray tube (102) with
Between the high pressure generator, wherein the impedance of the dynamic damper (120) increases with the increase in frequency.
2. the X-ray emitter (100) as described in technical scheme 1, wherein the dynamic damper (120) is solenoid
(150)。
3. the X-ray emitter (100) as described in technical scheme 2, wherein the solenoid (150) is by magnetic stainless steel
Filament winding group (156) is constituted.
4. the X-ray emitter (100) as described in technical scheme 3, wherein the resistance of the dynamic damper (120)
The inductance of the anti-solenoid (150) for including increasing with frequency and the magnetic stainless steel wire winding increased with frequency
(156) resistance.
5. the X-ray emitter (100) as described in technical scheme 1, wherein in the frequency less than 50 kHz, the dynamic
Damper (120), which is provided, to be less than to protect 1/3 impedance of the reference impedance needed for the high pressure generator (118).
6. the X-ray emitter (100) as described in technical scheme 5, wherein in the frequency less than 50 kHz, it is described
Dynamic damper (120), which is provided, to be less than to protect 1/10 impedance of the reference impedance needed for the high pressure generator (118).
7. the X-ray emitter (100) as described in technical scheme 5, wherein in the frequency higher than 5 MHz, the dynamic resistance
Buddhist nun's device (120), which is provided, to be more than to protect the impedance of the reference impedance needed for the high pressure generator (118).
8. the X-ray emitter (100) as described in technical scheme 5, wherein the reference impedance is at 500 ohm and 15000
Between ohm.
9. the X-ray emitter (100) as described in technical scheme 1, in addition to distributed resonant energy recover (DRER) electricity
Road (116), and the DRER circuits include：
At least one capacitor (142)；And
With the multiple switch (136) of at least one described capacitor (142) arranged in series, it is described switch (136) it is operable with
Selectively storage energy at least one described capacitor (142)；
Wherein operating the high pressure generator (118) with provide the described first kV grade to the X-ray tube (102) when, in institute
State at least one capacitor (142) and receive and storage energy；And
Wherein operating the high pressure generator (118) with provide the described 2nd kV grade to the X-ray tube (102) when, from institute
At least one capacitor (142) is stated to release energy to realize the described 2nd kV grades.
10. the X-ray emitter as described in technical scheme 9, in addition to：
It is arranged in the high-tension cable between the high pressure generator (118) and the X-ray tube (102)
Wherein operating the high pressure generator (118) with provide the described 2nd kV grade to the X-ray tube (102) when, in institute
Storage energy in the electric capacity (126) of high-tension cable is stated, and is operating the high pressure generator (118) to provide the first kV
When level arrives the X-ray tube, the high-tension cable is set to be discharged into the DRER circuits by the dynamic damper (120)
(116) with the storage energy at least one described capacitor (142) of the DRER circuits (116).
11. the X-ray emitter as described in technical scheme 1, in addition to：
High-voltaghe compartment (104), wherein the dynamic damper (120) is located in the high-voltaghe compartment (104).
12. one kind prevents the method that pipe is told in X-ray emitter (100), methods described includes：
It is that X-ray tube (102) supplies high-voltage potential from the high-voltaghe compartment sub-assembly (104) with transformer (112)；
Dynamic damper (120) is placed between the negative electrode of the X-ray tube (108) and the transformer (112), wherein institute
State dynamic damper (120) and changeable frequency impedance is provided；
When supplying the high-voltage potential for the X-ray tube (102), there is provided the first impedance of the dynamic damper (120)；
Occurring, there is provided the second impedance of the dynamic damper (120), wherein institute when the pipe in the X-ray tube (102) is told
The second impedance is stated more than first impedance.
13. the method as described in technical scheme 12, in addition to：
Selectively provided from the high-voltaghe compartment sub-assembly (104) the first kV grades to the X-ray tube (102)；And
Selectively provided from the high-voltaghe compartment sub-assembly (104) the 2nd kV grades to the X-ray tube (102)；
Wherein described second kV grades are more than the described first kV grades.
14. the method as described in technical scheme 13, wherein the high-voltaghe compartment sub-assembly (104) also includes multiple switching dresses
Put (136) and at least one capacitor (142), the multiple switching device with the multiple switching device arranged in series
(136) it is operable to release energy selectively at least one described capacitor (142) storage energy and therefrom, methods described
Also include：
Operate the high-voltaghe compartment sub-assembly (104) with provide the described first kV grades arrive the X-ray tube；
Received and storage energy at least one described capacitor (142)；
Operate the high-voltaghe compartment sub-assembly (104) with provide the described 2nd kV grades arrive the X-ray tube；And
Make at least one capacitor (142) release with promote from the described first kV grades be switched to the described 2nd kV grades.
15. the method as described in technical scheme 14, in addition to：
Energy is received by the dynamic damper (120)；And
The received energy of storage at least one described capacitor (142).
Brief description of the drawings
Fig. 1 describes can realize computerized axial tomography (CT) imaging system of various embodiments with reference to it.
Fig. 2 is the block diagram of Fig. 1 CT imaging systems.
Fig. 3 is the system diagram of the example embodiment of X-ray emitter.
Fig. 4 is the schematic diagram of the example embodiment with the X-ray emitter for telling damping.
Fig. 5 is the circuit diagram of the example embodiment with energy storage system He the X-ray emitter for telling damping.
Fig. 6 describes the example embodiment of dynamic damper.
Fig. 7 is the curve map of the demonstration measurement of the impedance versus frequency of the example embodiment of dynamic damper.
Embodiment
Fig. 3 is the system diagram of the example embodiment of X-ray emitter 100.It will be appreciated that Fig. 4 schematic diagram and Fig. 5
Circuit diagram represents the more detailed of radiation generator 100 but only example embodiment.In view of figure provided herein and description, by this
Art personnel can be appreciated that other realizations of radiation generator 100.In the embodiment that Fig. 3 describes, and as herein
It is described in detail, X-ray emitter 100 includes high-voltage power supply and radiation source, radiation source demonstration is to be electrically coupled to height in a usual manner
The X-ray tube 102 for the transmitting for pressing case sub-assembly 104 to form X-ray from X-ray tube 102.Those skilled in the art will manage
Solution, although high-voltaghe compartment sub-assembly 104 is depicted as including the various assemblies being located therein, but alternative can be included in except such as this
It is located at more or less components in high-voltaghe compartment sub-assembly 104 in the arrangement outside that arrangement described in text.Radiation occurs
Device 100 also includes power circuit 106, and it is coupled to high-voltaghe compartment sub-assembly 104 and is configured for answering power driving high-voltaghe compartment
Sub-assembly 104.
X-ray tube 102 generally comprises negative electrode 108 and anode 110.The longitudinal direction of negative electrode 108 and anode 110 along X-ray tube 102
Axis is with generally inverted alignment.Negative electrode 108 includes the electron emitting filament for being capable of launching electronics in a usual manner
(filament).Filament heating current controls to evaporate the electron amount of (boiled off) by filament, and therefore provides pipe electricity
Flow the control of flow.The high-voltage potential applied from high-voltaghe compartment sub-assembly 104 promotes electronics to accelerate from negative electrode 108 to anode 110.Plus
The electronics of speed bumps against with anode 110, produces electromagnetic radiation, includes X-radiation.
High-voltaghe compartment sub-assembly 104 is configured to receive the AC waveforms from power circuit 106, and repairs AC waveforms to provide
High pressure DC current potentials to X-ray tube, wherein, anode 110 and negative electrode 108 generally carry the equivalent voltage of opposed polarity.High-voltaghe compartment group
Component 104 includes transformer combination part 112 and voltage rectifier circuit 114.The transformer combination part of high-voltaghe compartment sub-assembly 110
112 and voltage rectifier circuit 114 repair the AC voltage signals transmitted by power circuit 106.
Voltage rectifier 114 is connected to distributed resonant energy and recovers (DRER) circuit 116.It is such as further detailed herein
It is described, DRER circuits 116 can store and return to X-ray tube 102 high kV grades（For example, 140kV) and it is low kV grades（Example
Such as, 80kV）Between energy.When switching between voltage level, DRER circuits 116 are also improved by reusing with recycled energy
Efficiency, which save energy and allows faster to switch.
Transformer combination part 112 and voltage rectifier 114 provide penetrates for high-pressure energy necessary to generating X-ray to X
Spool.This high-pressure energy can be between two or more output energy levels.In one example, energy can zero with
Switch between 120 kV, and in another embodiment, energy can switch between 80 kV and 140 kV.People in the art
Member is it will be recognized that the combination for the other energy levels or two or more energy levels that can be used in embodiment.
As discussed above, temporary electrical short circuit occurs in X-ray tube sometimes, and it is commonly referred to as that pipe is told.Recovery is told in pipe
Period, x-ray photon is not launched from X-ray tube.As disclosed herein, it is whole in the negative electrode 108 and voltage of X-ray tube 102
Offer dynamic damper 120 between device 114 is provided.Dynamic damper 120 provides the short-circuit impedance told for pipe, is poured in limiting
The value and protection component of electric current.As being further described in detail herein, dynamic damper 120 has changeable frequency impedance, its
For providing high impedance in response to the high-frequency characteristic that pipe is told, and in the normal X ray generator comprising energy storage system
Low ESR is provided during the normal operating of operating frequency and working frequency.
In optional and example embodiment, X-ray emitter 100 can be also comprising the distribution for being connected to voltage rectifier 114
Formula resonant energy recovers (DRER) circuit 116.As being further described in detail herein, the energy of such as DRER circuits 116 is extensive
Complex system can aid in by by means of storing and return energy, accelerate transformation between energy level there is provided at two or
The switching of energy between more energy levels.In embodiment, this can be provided as by transformer and voltage rectifier generation to X
The voltage of ray tube 102 is high kV grades（For example, 140 kV）With it is low kV grades（For example, 80 kV）Between resonance switching.As herein
In be further described in detail, DRER circuits 116 are operable to switch load over the output capacitor, so as to by energy from defeated
Go out when capacitor is delivered to storage to switch between energy level and recover energy from system.
Fig. 1 is the diagram of CT imaging systems 10.The schematic diagram for the CT imaging systems 10 that Fig. 2 is.In the exemplary embodiments, CT
Imaging system 10 is shown as comprising the stand 12 for representing " third generation " CT imaging systems.Stand 12 has x-ray source 14, and the X is penetrated
Line source projects the pencil-beam 16 of X-ray to the detector array 18 on the opposite side of stand 12.Detector array 18 can be by multiple inspections
Survey device row（It is not shown）Formed, it is comprising sensing together by such as medical patient 22, a luggage or depending on imaging device
Application industrial object object projection X-ray beam multiple detector elements 20.Each detector element 20 can be produced
Raw electric signal, the electric signal represents the intensity of the X-ray radiation beam of collision, and thereby indicate that passes through object in beam（For example,
Patient 22）When its decay.The quantity for the incident photon that intensity may correspond at element.With multi-slice detector 18 into
As system 10 can provide the multiple images for the volume for representing object 22.Each image of multiple images corresponds to volume
Individually " cut into slices "." thickness " of section or aperture depend on the height of detector line.
During the scanning for gathering X-ray projection data, rotating part in stand 12 and install in the above
Component rotates on the center 24 of rotation.Fig. 2 only shows the detector element 20 of single file.However, multi-slice detector array 18
Multiple parallel detector rows of detector element 20 can be included so that can be while gathering corresponding to demonstration taper during scanning
The data for projection of beam geometry shape.It will be appreciated that, different beam geometries can be used in other imaging systems, and detect
Device 18 can similarly be adapted to the X-ray of detection emitter geometry.The rotation of the inner assembly of stand 12 and the behaviour of radiation source 14
Work can be controlled by control device 26.Control device 26 includes the X-ray controller for providing power and timing signal to x-ray source 14
With generator 30.The rotary speed of the rotating part of the control stand 12 of stand motor controller 32 and position.In control device 26
34 pairs of analogue datas for carrying out self-detector element 20 of data collecting system (DAS) sample, and convert the data into number
Word signal is used for post processing.Image reconstructor 36 receives sampling and digitized measurement data from DAS 34, and holds
Row high speed image reconstruction.The image of reconstruct is applied to computer 38 as input, and computer 38 is in mass storage device 40
Storage image.Although being shown in Figure 2 for single device, in a further embodiment, image reconstructor 36 can be position
In on the specialized hardware in computer 38 or the computer readable medium being stored in computer 38 52 or can be by computer
38 softwares for accessing and being run by computer 38.Computer readable medium can be can by computer 38 readout means reads
Take integrated, removable or the memory connected by correspondence.Computer 38 may operate at the instruction that is stored in firmware or
Software on removable medium 52.
Computer 38 is also via the console 42 with keyboard and/or another form of user input apparatus, and reception comes from
The order of operator and sweep parameter.The display system 44 of association allows the image that operator reconstructs from computer 38 and its
Its data.The order of operator's supply and parameter can be used for DAS 34, X-ray controller 48, generator 390 from computer 38
And stand motor controller 32 provides control signal and information.In addition, the operation element platform motor controller 46 of computer 38, it is controlled
Patient 22 in the alignment rack 12 of electric table 48 processed.Workbench 48 moves the part of patient 22 by stand opening 50.
Fig. 4 is the schematic diagram of the example embodiment for the X-ray emitter 100 that damping is told with pipe.X-ray emitter 100
Include the power circuit 106 for receiving the electric main power from power supply unit (PDU) 122.PDU 122 provides outside input work(
Rate is to power circuit 106.In only example embodiment, PDU 122 is provided in the power of 50 Hz incoming frequencies of demonstrating.Power electricity
The demonstration of road 106 includes the frequency converter produced to the high-frequency input power signal of transformer combination part 112.High-frequency is inputted
Power signal can demonstrate with the frequency in 50 kHz to 250 kHz.High-frequency input power signal includes AC components and DC points
Amount provides the input voltage for high-voltaghe compartment sub-assembly 104 with both, to form the high-tension electricity necessary to generating X-ray
Position.Power from power circuit is provided into high-voltaghe compartment sub-assembly 104 and the transformer combination part 112 being located therein.
As described above, transformer 112 and voltage rectifier 114 generate as X-ray tube be used for generate X-ray required by height
Piezoelectric position.Specifically, in dual energy (DE) or the application of multi-energy (ME) X-ray, transformer 112 and voltage rectifier 114
Multiple voltage levels across X-ray tube 102 can be generated.In the exemplary embodiments, frequency converter, the and of transformer combination part 112
One or more of voltage rectifier 114 includes the high pressure generator 118 of X-ray emitter 110.Filter condenser 124 with
Voltage rectifier 114 is in parallel to be provided.Output capacitor 126 is arranged in parallel with X-ray tube 102, and is controlled across X-ray tube 102
The voltage of application, and storage current potential is for capturing and reusing again.In embodiment, the electric capacity of output capacitor 126 can be at least
Part includes the electric capacity of link high pressure generator and the high-tension cable of X-ray tube.The electric capacity of output capacitor can be more than filtered electrical
The electric capacity of container 124.
As being further explained in detail herein, dynamic damper 120 be located at X-ray tube 102 and voltage rectifier 114 it
Between.As explained above, pipe tell be the internal short-circuit of X-ray tube 102 high-frequency phenomenon.Pipe tells the frequency that can occur in about 10 MHz
Rate, but generally pipe is told with the fundamental frequency higher than 20 MHz.Protected by dynamic damper 120 in the high impedance that these frequencies are provided
Protecting system is told from generator tube.However, high resistant damped impedance reduces the efficiency of energy recovery.Therefore, changeable frequency impedance is produced
Dynamic damper 120 can with comprising the embodiment with energy storage system as described herein X-ray occur
The low frequency of the operation association of device 100 provides Low ESR, and is occurring to provide high impedance when high-frequency pipe tells phenomenon.Particularly exist
In the system switched using resonance, this arrangement realizes improved pipe and tells protection and the recovery of improved energy.
Fig. 5 is the circuit diagram of the example embodiment for the X-ray emitter 100 that damping is told with energy recovery system and pipe.
Fig. 5 circuit diagram demonstration provide as above relative to the device described in Fig. 3 and 4 realization a possible embodiment.Specifically,
Fig. 5 describes one embodiment using DRER circuits.By it would be recognized by those skilled in the art that being maintained at the scope of the present disclosure
While interior, other realizations and embodiment can be used.
Demonstration ground, power circuit 106 includes the operable frequency conversion with the desired voltage and current of offer to X-ray tube
Device 128.Demonstration ground, frequency converter 128 is arranged as full HV inverters.It will be appreciated, however, that in an alternative embodiment,
Can otherwise arrange with operating frequency converter 128, include more than two channel.
Power frequency converter 128 in embodiment comprising the transformer combination part 112 of multiple transformers by that can provide
Excite.Although not describing, transformer combination part 112 can demonstrate comprising HV case transformers, but those skilled in the art will also recognize
Know other transformer arrangements.These one or more transformers of transformer combination part 112 can be located at high-voltaghe compartment sub-assembly
（Do not describe）It is interior.
In the exemplary embodiments, resonant capacitor 124 can be connected with the transformers connected in parallel of transformer combination part 112, the change
Depressor sub-assembly is including but not limited to HV casees transmission 128.It will be noted that, in dual energy (DE) embodiment, power supply
Device has turned on, and provide required power with keep high HV grades it is constant.Before from high kV to low kV transmission, demonstration ground is by work(
Rate supply is closed.
The power provided from transformer combination part 112 is provided to voltage rectifier 114.The demonstration bag of voltage rectifier 114
Containing diode 132.Diode can exemplary arrangement be full-bridge rectifier as depicted in Figure 5.In another embodiment, voltage commutation
Device 114 can include capacitor（Do not describe）, and be changed to be arranged as voltage doubler rectifier device.As described above, X-ray emitter 100
High pressure generator 118 may include one or more of frequency converter 128, transformer combination part 112 and voltage rectifier 114
.In embodiment, transformer combination part 112 and voltage rectifier 114 can be located in high pressure (HV) case.
As described above, the energy recovery system illustrated by DRER circuits 116 provides the ability for storage energy with favourable
In the voltage generated by system at high kV grades and it is low kV grades between switch.DRER circuits in as described herein realize
116 also help when switching between voltage level the recovery of energy and reuse, and which save energy and allow faster to switch.
Arranged with active resonant configuration to the demonstration of DRER circuits 116 described in Fig. 5, in the configuration, the electronic device energy in system
X-ray tube 102 is enough transferred power to, for example, to be charged to continue to provide power to the X-ray tube in operation with high pressure
102.For example, radiation generator 100 is operable to provide the energy in 80 kV from voltage rectifier 114, and by combining electricity
The operation of both rectifier 114 and DRER circuits 116 is pressed, energy can provide in 140 kV and arrive X-ray tube 102.Describe in Fig. 5
The example embodiment of DRER circuits 116 includes the multiple switching devices 136 being connected in series.Switching device 136 can be any class
The switch of type.For example, switching device 136 can be mos field effect transistor (MOSFET), insulated gate pair
Gated transistors (IGBT), IGCT, BJT or any other device with controllable access opening feature.Such device can be by silicon, carbonization
Silicon, gallium nitride are suitable for building any other material of such controllable device and are made.Although not describing in Fig. 5, understand,
Switching device 136 is connected to the control circuit that may include to control driver, and control driver can demonstrate as logical timer, and can
Also include inversion buffer so that switching device 136 is operated in relative status relative to each other.In further embodiment
In, depending on the operation of radiation generator（For example, conventional to dual-energy operation）, switching device it is operable with simultaneously be in it is identical
In state.
Switching device 136 is connected between utility capacitor 140 and DRER capacitors 142.Diode can be by any suitable
Condensation material is such as, but not limited to silicon, carborundum, gallium nitride etc. and is made.Each switching device 136 in inverse parallel configuration with conduct
The diode 138 of reverse blocking diode operation is connected.DRER inductors 144 are also connected in series in DRER capacitors 142 with opening
Close between 136/ diode 138.It should be noted that DRER inductors 144 are alternatively referred to as resonant inductor.In some embodiments
In, as it would be recognized by those skilled in the art that, there may be more than one utility capacitor 140（For example, arranged in series）
And/or more than one DRER capacitors 142（For example, arranged in series）And multiple DRER inductors 144（For example, arranged in series）.
As described above, dynamic damper 120 can demonstrate to being positioned at the anode 110 and DRER circuits 116 of X-ray tube 102
Between solenoid.Solenoid can demonstrate as around the winding of the silk of magnetic stainless steel.In the exemplary embodiments, solenoidal shape
With size by depending on the geometrical constraint in HV casees and in low-frequency desired resistance value, the resistance value is for normal behaviour
Make condition, solenoid is by the dominance condition run into.
Fig. 6 describes the example embodiment of solenoid 150.Demonstration ground, solenoid 150 passes through the magnetic that is wound around framework 154
Stainless steel wire 156 is constituted.The framework 154 on side 152, which can be included, to be incited somebody to action by plastics or makrolon or such as by those skilled in the art
The other suitable materials recognized are constituted.Although solenoid 150 be depicted as generally it is square, it will be appreciated that in view of this public affairs
Open, such as because in low-frequency desired impedance, solenoid 150 can use any amount of geometry and size.For institute
It is expected that impedance selects size and shape, for example, the length of stainless steel wire determines solenoidal resistance, and the size and shape of winding
Shape determines inductance.These are selected for the desired impedance operator in physics HV case size constraints together.
In embodiment, by dynamic damper provide high-frequency impedance increase can be solenoidal inductance original
Cause.In addition, the frequency dependence increase in the resistance for passing through stainless steel wire, it is possible to provide further impedance increase.The electricity of this increase
Resistance can be important for mitigating or damping the resonance between solenoidal inductance and capacitor 140 and 146 electric capacity.With
The increase in frequency, Kelvin effect increases the resistance of silk.From the combination of silk diameter, conductivity of materials and material permeability
In, it is determined that wherein resistance starts the corner frequency of the Kelvin effect of increase.Stainless steel wire provides the combination of these attributes, to realize
Just above the frequency of normal operating（For example, 50 kHz）Corner frequency.Therefore, with being generally used for the copper wire of filament winding resistor
Or other materials are compared, stainless steel wire is particularly useful in embodiment.
Fig. 7 is curve map 200, and it is described compared with the impedance 204 of the measurement across dynamic damper as disclosed herein,
For the impedance of the impedance 202 of the measurement from demonstration fixed value resistor（For example, ohm）To frequency (kHz) exemplary curves
Figure.As Fig. 7 describes, the impedance of demonstration fixed value resistor is expressed as α.In embodiment, α can be represented for protecting high pressure
Raw device, and particularly voltage rectifier from being told in pipe in the case of damage required impedance.In the exemplary embodiments, α can
Demonstration is between 500 Ω and 15000 Ω scopes.In the embodiment of protection is wherein told by the offer of fixed value resistor, α
Demonstration is understood that into be between 500 Ω and 5000 Ω scopes.It would be recognized by those skilled in the art that X-ray can be based on
One or more energy levels of generator and/or other systems consider item, select such fixed value resistor values.It is such as above strong
Adjust, dynamic damper provides two functions.First, dynamic damper provides high impedance in high-frequency, is directed to providing 206
Locate the protection told more than 10000 kHz pipe represented.In frequency close to 5000 kHz, and more specifically, 10000 kHz
When, this function can be seen at 208 in the index increase of impedance.Secondly, dynamic damper is in low frequency, particularly in CT
Those frequencies run into during the normal operating of device provide minimum impedance.This operating frequency is usual between 0 and 100 kHz,
And more specifically between 0 and 50 kHz.In additional embodiment, operating frequency can 20 kHz and 200 kHz it
Between
Fig. 7 show the impedance of dynamic damper 204 from low-frequency α/x to existing in the frequency more than 5000 kHz and further
The α that is more than close to 10000 kHz frequency changes.Demonstration ground, " x " can be 3 or 4, and therefore dynamic damper offer is shown
Model is at least 3-1α or 4-1α is to more than the changeable frequency impedance between α.It will be appreciated that " x " can also be used in embodiment
Other values, and these values represent minimum zone, and in fact, impedance can exceed these values.In embodiment, impedance can be
Frequency more than 5 MHz or 10 MHz increases to such as 3 α or 4 α.In a still further embodiment, the low-resistance of dynamic damper
Anti- value can be less than 4 in the frequency less than 50 kHz-1α, including but not limited to 10-1α.For example, with high energy level and low energy
The embodiment of the radiation generator of 7 milliseconds of fringe times and resonance switching between level can be produced as shown in online 210
About 50 kHz resonant frequency.Therefore, in these low frequencies level transmitted by arrow 212, dynamic damper displaying Low ESR,
Demonstrate as α/3 or α/4 ohm.In fact, this can cause 500 ohm or smaller of low impedance value in the frequency less than 50 kHz.
In all such as less than 100 kHz low frequencies, and specifically in the frequency less than 50 kHz, dynamic damper
Reduction impedance is the further improvement relative to fixed value resistor.As seen in Fig. 7, dynamic damper is in CT operating frequencies
Significantly lower impedance is provided.When system runs into smaller impedance, CT operating frequencies this reduction impedance cause by
The more effective energy of DRER circuits recovers.Increase because the overall efficiency of CT system is improved with operation electric current (mA) in CT system
Greatly, therefore, this efficiency gain is especially important for application in future.
Referring back to Fig. 5, during operation, energy is in such as utility capacitor 140 and output capacitor 126 and DRER
Transmitted between the energy stores element of capacitor 142 in DRER circuits 116 with resonance manner.In embodiment, output capacitance
Device 126 is more much larger than utility capacitor 140, therefore, and more energy fluences to DRER capacitors 132 are conducted through dynamic
Damper 120.The switch speed changed between voltage level is controlled by DRER inductors 144.DRER inductors 144, DRER electricity
Container 142 and utility capacitor 140 are used as resonance element operation.In certain embodiments, utility capacitor 140 and DRER electric capacity
The value of device 142 is set for example, by the geometric size of connection cable and X-ray tube；Correspondingly, from a voltage level to another electricity
The switch speed arbitrarily downgraded is determined by the value of DRER inductors 144.For example, the value of DRER inductors 144 is smaller, in high to Low electricity
It is between arbitrarily downgrading and faster low to the transformation of switch speed between voltage level.Demonstration ground, in various embodiments switching is filled
The rate of transformation for putting 136 is more faster than voltage rate of transformation.
In operation, DRER capacitors 142 are operated to receive the energy from release utility capacitor 140, and low
Kept or storage energy during operating system in voltage status so that energy can be afterwards from low-voltage state to high-voltage state
Transformation in use, so as to using switching device 136 handover operation, be that utility capacitor 140 is recharged.Therefore, by humorous
Shake circulation, when at system in high pressure conditions, the energy transmission stored in DRER capacitors 142 is returned into utility capacitor
140.Utility capacitor 140 keeps voltage that is desired or requiring by voltage rectifier 114.Dynamic damper 120 is with certain
Mode provides pipe and tells protection, and which promotes the output capacitor by HV cables by providing Low ESR to this energy transmission
126 and X-ray tube 102 return to energy in HV casees and recover and efficiency.148 are delivered to by circuit along demonstration ground, energy
DRER capacitors 142.
The test carried out by present inventor between dynamic damper as described herein and blocked impedance is found that
The peak-to-peak current reduced in the dynamic damper set under identical high-frequency condition of high voltage.Present inventor it has also been found that in low frequency and
Low energy, it was found that the reduction in peak-to-peak current.The result of the two tests is shown, in the behaviour of normal DE or ME radiation generators
Under the conditions of work, the bigger energy of dynamic damper configuration provides as disclosed herein recovers and efficiency.
Present inventor, it is also observed that dynamic damper improves the efficiency of DRER circuits so that provide further relative to
Improved independence between stand rotary speed, the electric current in voltage fringe time and pipe.In the exemplary embodiments, with dynamic
The DRER circuits of state damping provide the input current across some scope（For example, 30ma -1000+ ma）Consistent low kV energy
(70 kV) and the stand rotary speed across some scope（For example, 1.0 s/rev-2.0 s/rev）Consistent low kV energy.
Therefore, the embodiment of dynamic damper as disclosed herein prevents pipe from telling, while improving in pipe and HV electricity
Efficiency of the cable to energy transmission between HV casees.By being provided for damper in low-frequency Low ESR, disclosure system is increased
For the Energy movoment efficiency of the energy stored in HV casees.
This written description discloses the present invention using the example comprising optimal mode, also, also makes those skilled in the art
Member can make and using the present invention.Obtainable the scope of the claims of the present invention is defined by the claims, also, can be comprising this
Other examples that the technical staff in field expects.If other this kind of examples have the word language for being not different from claim
Structural element, or if they include with equivalent structure member of the word language of claim without essence difference
Element, then their intentions are within the scope of claims.
List of parts
Claims (10)
1. a kind of X-ray emitter (100), including：
X-ray tube (102), including anode (110) and negative electrode (108)；
High pressure generator (118), it is operable with provide at least the first kV grades to the X-ray tube and the 2nd kV grades penetrated to the X
Spool, the described 2nd kV grades higher than the described first kV grades；And
Dynamic damper (120) with frequency dependent impedance, be placed at the negative electrode (108) of the X-ray tube (102) with
Between the high pressure generator, wherein the impedance of the dynamic damper (120) increases with the increase in frequency.
2. X-ray emitter (100) as claimed in claim 1, wherein the dynamic damper (120) is solenoid (150).
3. X-ray emitter (100) as claimed in claim 2, wherein the solenoid (150) is by magnetic stainless steel wire winding
(156) constitute.
4. X-ray emitter (100) as claimed in claim 3, wherein the impedance of the dynamic damper (120) includes
The inductance of the solenoid (150) increased with frequency and the magnetic stainless steel wire winding (156) increased with frequency
Resistance.
5. X-ray emitter (100) as claimed in claim 1, wherein in the frequency less than 50 kHz, the dynamic antivibration
Device (120), which is provided, to be less than to protect 1/3 impedance of the reference impedance needed for the high pressure generator (118).
6. X-ray emitter (100) as claimed in claim 5, wherein in the frequency less than 50 kHz, the dynamic
Damper (120), which is provided, to be less than to protect 1/10 impedance of the reference impedance needed for the high pressure generator (118).
7. X-ray emitter (100) as claimed in claim 5, wherein in the frequency higher than 5 MHz, the dynamic damper
(120) provide and be more than to protect the impedance of the reference impedance needed for the high pressure generator (118).
8. X-ray emitter (100) as claimed in claim 5, wherein the reference impedance is in 500 ohm and 15000 ohm
Between.
9. X-ray emitter (100) as claimed in claim 1, in addition to distributed resonant energy recover (DRER) circuit
, and the DRER circuits include (116)：
At least one capacitor (142)；And
With the multiple switch (136) of at least one described capacitor (142) arranged in series, it is described switch (136) it is operable with
Selectively storage energy at least one described capacitor (142)；
Wherein operating the high pressure generator (118) with provide the described first kV grade to the X-ray tube (102) when, in institute
State at least one capacitor (142) and receive and storage energy；And
Wherein operating the high pressure generator (118) with provide the described 2nd kV grade to the X-ray tube (102) when, from institute
At least one capacitor (142) is stated to release energy to realize the described 2nd kV grades.
10. X-ray emitter as claimed in claim 9, in addition to：
It is arranged in the high-tension cable between the high pressure generator (118) and the X-ray tube (102)
Wherein operating the high pressure generator (118) with provide the described 2nd kV grade to the X-ray tube (102) when, in institute
Storage energy in the electric capacity (126) of high-tension cable is stated, and is operating the high pressure generator (118) to provide the first kV
When level arrives the X-ray tube, the high-tension cable is set to be discharged into the DRER circuits by the dynamic damper (120)
(116) with the storage energy at least one described capacitor (142) of the DRER circuits (116).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US15/015,920 US9930765B2 (en) | 2016-02-04 | 2016-02-04 | Dynamic damper in an X-ray system |
| US15/015920 | 2016-02-04 |
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| Publication Number | Publication Date |
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| US (1) | US9930765B2 (en) |
| EP (1) | EP3211973B1 (en) |
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| US11751316B2 (en) * | 2019-11-05 | 2023-09-05 | Gulmay Limited | Power transfer and monitoring devices for X-ray tubes |
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Also Published As
| Publication number | Publication date |
|---|---|
| EP3211973B1 (en) | 2021-07-28 |
| US9930765B2 (en) | 2018-03-27 |
| EP3211973A2 (en) | 2017-08-30 |
| US20170231076A1 (en) | 2017-08-10 |
| EP3211973A3 (en) | 2018-01-03 |
| CN107041058B (en) | 2022-03-01 |
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